| Nowadays, there are more and more physical injury problem. Surgery drug treatment is not the only way. With the development of medicine science, omni-directional rehabilitative training robot has been used for lower limb rehabilitation training as the new medical service robot. However, there are some problems in actual use of the rehabilitative training robot. In fact, due to lack of motor driving force and actuator components aging, the walker cannot trace the designated route because of the disturbance. Therefore, the safety problem of the walker needs to be solved. In this thesis, the one wheel drived by motor of training robot has failure, and fault-tolerant controller is designed to solve the problem.Firstly, the structure characteristic of omni-directional mobile rehabilitation training robot is analyzed, the theorem for system stability are introduced, including Lyapunov method, the principle of inversion controller and Barbalat lemma.Secondly, kinematics model is analyzed. Using the idea of inversion controller, the Lyapunov function and feedback control law, the controller is designed, and the stability for system is proved, the effectiveness of the proposed control law under simulation examples of the designed trajectory tracking is verified.Finally, the dynamics mode of system is established. Through the input control law, the one wheel of omni-directional mobile rehabilitation robot with failure is simulated. Using the robustness of sliding mode control and the adaptive fuzzy control ability eliminating the chattering, adaptive fuzzy sliding mode control algorithm is adopted. Fault actuator under global coordinate system is separated. Through the control of fault-tolerant controller, the tracking error of rehabilitation robot is asymptotically stable. The simulation results of actuator failure are ensured, it is proved that the controller designed by this thesis can make the robot to track steadily for the designed trajectory tracking. |
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